TY - JOUR AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Balancing riderless electric scooters at zero speed in the presence of a feedback delay JF - MULTIBODY SYSTEM DYNAMICS J2 - MULTIBODY SYST DYN VL - 64 PY - 2025 SP - 627 EP - 655 PG - 29 SN - 1384-5640 DO - 10.1007/s11044-024-10019-z UR - https://m2.mtmt.hu/api/publication/35181832 ID - 35181832 N1 - First published online: 12 August 2024 AB - The nonlinear dynamics of electric scooters are investigated using a spatial mechanical model. The equations of motion are derived with the help of Kane’s method. Two control algorithms are designed in order to balance the e-scooter in a vertical position at zero forward speed. Hierarchical, linear state feedback controllers with feedback delay are considered. In the case of a delay-free controller, the linear stability properties are analyzed analytically, with the help of the Routh–Hurwitz criteria. The linear stability charts of the delayed controllers are constructed with the help of the D-subdivision method and semi-discretization. The control gains of the controllers are optimized with respect to the robustness against perturbations. The effects of the feedback delay of the controllers, the rake angle, the trail, and the center of gravity of the handlebar on the linear stability are shown. The performance of the control algorithms is verified by means of numerical simulations. © The Author(s) 2024. LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes AU - Antali, Máté ED - Gerstmayr, Johannes ED - Manzl, Peter ED - Pieber, Michael ED - Zwölfer, Andreas TI - Stability control of two-wheeled trailers with different contact force models T2 - Book of Abstracts of the12th ECCOMAS Thematic Conference on Multibody Dynamics SN - 9783200105874 PY - 2025 PG - 2 UR - https://m2.mtmt.hu/api/publication/36330563 ID - 36330563 LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes ED - Metrikine, Andrei ED - Alijani, Farbod TI - Stability analysis of a hierarchical steering controller with feedback delays for balancing electric scooters in vertical position T2 - Online Book of Abstracts of the 11th European Nonlinear Dynamics Conference (ENOC 2024) PY - 2024 SP - 1 PG - 2 UR - https://m2.mtmt.hu/api/publication/35321524 ID - 35321524 LA - English DB - MTMT ER - TY - JOUR AU - Horváth, Hanna Zsófia AU - Feher, Adam Balint AU - Takács, Dénes TI - Nonlinear Dynamics of a Controlled Two-Wheeled Trailer JF - LECTURE NOTES IN MECHANICAL ENGINEERING J2 - LECT NOTES MECHAN ENG VL - 16th International Symposium on Advanced Vehicle Control PY - 2024 SP - 123 EP - 129 PG - 7 SN - 2195-4356 DO - 10.1007/978-3-031-70392-8_18 UR - https://m2.mtmt.hu/api/publication/35490179 ID - 35490179 N1 - Funding Agency and Grant Number: National Research, Development and Innovation Office [NKFI-146201, 2020-1.2.4-TET-IPARI-2021-00012]; Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences [UNKP-23-5-BME-299, UNKP-23-3-II-BME-137]; National Research, Development and Innovation Fund; HUN-REN Hungarian Research Network; Foundation for Mechanical Engineering Education Funding text: The research is supported by the National Research, Development and Innovation Office under grant no. NKFI-146201, 2020-1.2.4-TET-IPARI-2021-00012 and partly supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. Supported by the UNKP-23-5-BME-299, UNKP-23-3-II-BME-137 New National Excellence Program of the Ministry for Innovation and Technology from the source of the National Research, Development and Innovation Fund. This project has received funding from the HUN-REN Hungarian Research Network. The research is partly supported by the Foundation for Mechanical Engineering Education. AB - The nonlinear dynamics of towed two-wheeled trailers is investigated using a spatial, 4-DoF model. Namely, the yaw, pitch, and roll motions are all taken into account. Geometrical nonlinearities and the non-smooth characteristics of the tire forces are considered. A linear state feedback controller with feedback delay is designed to enhance the stability performance of the trailer. Numerical bifurcation analysis is performed to investigate the large amplitude vibrations and unsafe (bistable) zones, where the stable rectilinear motion and the stable limit cycle coexist with each other. The effects of the control gain and the feedback delay of the controller are presented on bifurcation diagrams. It is shown, that with appropriately chosen control gains, the size of the bistable region can be limited. © The Author(s) 2024. LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Stabilizing E-scooters at Zero Speed with Feedback Control T2 - 18th IFAC TDS - Time Delay Systems - Program & Book of abstracts PY - 2024 PG - 2 UR - https://m2.mtmt.hu/api/publication/35666967 ID - 35666967 LA - English DB - MTMT ER - TY - JOUR AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Numerical Analysis on Shimmying Wheels with Dry Friction Damper JF - PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING J2 - PERIOD POLYTECH MECH ENG VL - 67 PY - 2023 IS - 2 SP - 118 EP - 126 PG - 9 SN - 0324-6051 DO - 10.3311/PPme.21072 UR - https://m2.mtmt.hu/api/publication/33698804 ID - 33698804 N1 - Funding Agency and Grant Number: Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; National Research, Development and Innovation Office [NKFI-128422]; NRDI Fundd (TKP2021) under the Ministry for Innovation and Technology; Ministry for Innovation and Technology from the National Research, Development and Innovation Fund [BME-NVA-02]; [NKP-21-3]; [2020-1.2.4-TET-IPARI-2021-00012] Funding text: The research reported in this paper was partly supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. The research carried out at BME has been supported by the National Research, Development and Innovation Office under grant no. NKFI-128422 and under grant no. 2020-1.2.4-TET-IPARI-2021-00012, as well as by the NRDI Fund (TKP2021, Project no. BME-NVA-02) based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology. Supported by the ?NKP-21-3 New National Excellence Program of the Ministry for Innovation and Technology from the source of the National Research, Development and Innovation Fund. AB - The dynamics of the 1.5-degree-of-freedom model of towed wheel is investigated. Dry friction at the king pin is considered, leading to a non-smooth dynamical system. Beyond analytical and numerical linear stability analysis, the nonlinear vibrations are investigated by numerical bifurcation analysis with smoothing and by numerical simulations with event handling. The effect of dry friction at the king pin on the birth of separated periodic branches is presented on bifurcation diagrams. The presence of bistable parameter domains is also shown. The effect of smoothing is investigated by comparing bifurcation diagrams of the smoothed and the original non-smooth systems. LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes ED - Baksa, Attila ED - Bertóti, Edgár ED - Kiss, László Péter TI - Önvezető elektromos kétkerekű jármű egyensúlyozása T2 - XIV. Magyar Mechanikai Konferencia, Az előadások összefoglalói PB - Miskolci Egyetem, Gépészmérnöki és Informatikai Kar C1 - Miskolc-Egyetemváros SN - 9789633583012 PY - 2023 SP - 1 PG - 1 UR - https://m2.mtmt.hu/api/publication/34132105 ID - 34132105 LA - Hungarian DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Balancing Standstill Motorcycles by Steering Control with Feedback Delay T2 - The Evolving Scholar - BMD 2023, 5th Edition PB - The Evolving Scholar - BMD 2023, 5th Edition PY - 2023 SP - 1 PG - 2 DO - 10.59490/647daeb569d559aa327d02f6 UR - https://m2.mtmt.hu/api/publication/34132111 ID - 34132111 AB - A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated. LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Fehér, Ádám Bálint AU - Takács, Dénes TI - Stability control of two-wheeled trailers T2 - NODYCON 2023 Book of Abstracts PB - Sapienza University of Rome C1 - Rome PY - 2023 SP - 1 PG - 1 UR - https://m2.mtmt.hu/api/publication/34224276 ID - 34224276 LA - English DB - MTMT ER - TY - CONF AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Steering control with feedback delays for balancing a motorcycle at zero longitudinal speed T2 - Proceedings of the ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference PY - 2023 SP - 1 PG - 2 UR - https://m2.mtmt.hu/api/publication/34498161 ID - 34498161 LA - English DB - MTMT ER -